Full-automatic helium detector equipment with spot inspection function

Abstract

The invention discloses full-automatic helium detector equipment with a point inspection function, and the equipment comprises a grabbing module which is used for grabbing and placing a lithium battery cover plate and packaging a lithium battery; the first air tightness detection module is used for carrying out first air tightness detection on the packaged lithium battery to obtain a first detection result; the second air tightness detection module is used for carrying out second air tightness detection on the packaged lithium battery when the first detection result is qualified, so as to obtain a second detection result; the data processing module is used for performing data processing on the second detection result to obtain a detection report; and the display module is used for visually displaying the detection report. The air tightness of the lithium battery cover plate structural member can be efficiently and accurately detected, and the spot inspection efficiency and accuracy are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of helium detectors, and in particular to a fully automatic helium detector with a spot inspection function. Background Art

[0002] At present, with the rapid development of lithium battery technology, the application scope of lithium batteries continues to expand, especially in electric vehicles and energy storage equipment. The airtightness of lithium batteries directly affects their safety and service life. At present, there are some helium detection equipment on the market, but most of the equipment relies on manual inspection, and there are the following problems: 1. Low efficiency of manual inspection: Manual inspection is not only time-consuming, but also easily affected by the operator's experience and skills, resulting in inconsistency in test results. Relying on manual inspection cannot meet the needs of large-scale production. 2. High misjudgment rate: Due to human factors, misjudgment of airtightness may occur, affecting product quality and product qualification rate. 3. Lack of systematicity: Traditional equipment usually lacks systematic inspection functions, cannot regularly and automatically monitor equipment status, and cannot achieve self-monitoring and maintenance of equipment. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems in the above-mentioned technology to a certain extent. To this end, the purpose of the present invention is to provide a fully automatic helium inspection machine with a spot inspection function device, which can efficiently and accurately detect the air tightness of the lithium battery cover plate structure, and improve the spot inspection efficiency and accuracy.

[0004] To achieve the above-mentioned purpose, the embodiment of the present invention proposes a fully automatic helium detector with spot inspection function, comprising:

[0005] The grabbing module is used to grab and place the lithium battery cover plate and package the lithium battery;

[0006] A first airtightness detection module, used to perform a first airtightness detection on the packaged lithium battery to obtain a first detection result;

[0007] A second airtightness detection module is used to perform a second airtightness detection on the packaged lithium battery to obtain a second detection result when the first detection result is qualified;

[0008] A data processing module, used for performing data processing on the second detection result to obtain a detection report;

[0009] The display module is used to visually display the test report.

[0010] According to some embodiments of the present invention, the capture module includes:

[0011] The acquisition module is used to collect point cloud information and scene images of the lithium battery cover;

[0012] A first determination module is used to determine a grabbing method for the lithium battery cover according to the point cloud information and the scene image;

[0013] A construction module, used to construct a grasping path based on a grasping method for a lithium battery cover;

[0014] The execution module is used to execute control instructions for grabbing the lithium battery cover based on the grabbing method and grabbing path.

[0015] According to some embodiments of the present invention, the first determining module includes:

[0016] The matching module is used to determine the model of the lithium battery cover according to the point cloud information, match it in the database, and determine the grabbing template;

[0017] A preprocessing module, used for preprocessing the scene image to obtain a preprocessed scene image;

[0018] Positioning and identification module for:

[0019] Preprocess the lithium battery cover plate image in the scene image for positioning and identification, summarize the coordinates of all data points in the lithium battery cover plate image, and calculate the average coordinates of all data points in the lithium battery cover plate image as the center of mass of the lithium battery cover plate;

[0020] Setting constraints; the constraints include a maximum distance from the centroid, a minimum distance, and a range of coordinate values;

[0021] Traverse all data points, check whether they meet the set constraints, and take the data points that meet the conditions as the data point set;

[0022] Calculate the normalized value of the dot product between every two data points in the data point set;

[0023] Select the data point pair with the smallest normalized value of the dot product as the grabbing point for the lithium battery cover;

[0024] The first adjustment module is used to adjust the grabbing template according to the grabbing points to determine the grabbing method for the lithium battery cover.

[0025] According to some embodiments of the present invention, the preprocessing module includes:

[0026] An enhancement module, used to enhance edge features of scene images through color space conversion;

[0027] The denoising module is used to perform denoising processing on the scene image to obtain a preprocessed scene image.

[0028] According to some embodiments of the present invention, the second airtightness detection module exchanges information with the host computer through a data transmission module; the data transmission module is one or more of 5GNB-I0T, Ethernet and 485 communication.

[0029] According to some embodiments of the present invention, the present invention further includes: a second adjustment module, configured to:

[0030] In the process of executing the control instruction by the execution module, the grasping node where the execution module is currently located is determined, and the reliability factor k of the execution module at the grasping node where the execution module is currently located is calculated. ε :

[0031]

[0032] Where T is the grasping safety of the grasping path before the execution module moves to the current grasping node; L i is the safe distance between the grabbing node i and the obstacle before the execution module moves to the current grabbing node; d i is the width of the safe grasping path at grasping node i before the execution module moves to the current grasping node;

[0033] According to the reliability factor k of the execution module at the current capture node ε , adjust the crawling path of the execution module, and send the adjusted crawling path to the execution module;

[0034]

[0035] Among them, F(x') is the adjusted grasping path; x ε is the grasping node where the execution module is currently located; x' is the grasping node that the execution module has not reached; w(x) is the cost function from the initial grasping node to the target grasping node; g(x ε ) is the cost function from the current grasping node to the target grasping node; x m is the horizontal coordinate of the current grab node; x n is the horizontal coordinate of the grasping node that has not been reached; y m is the ordinate of the current grab node; n is the ordinate of the unreached grab node.

[0036] According to some embodiments of the present invention, the first airtightness detection module includes:

[0037] The initial pressure charging detection module is used to perform initial pressure charging on the packaged lithium battery, fill the internal space of the battery with an inert gas at a preset pressure, and record the initial pressure value to preliminarily check whether there is leakage inside the lithium battery, and obtain first record information;

[0038] The negative pressure detection and tracer gas injection module is used to inject tracer gas outside the lithium battery while maintaining the positive pressure inside the lithium battery, placing the lithium battery in a negative pressure detection environment, observing and recording whether the tracer gas enters the detection environment through the leakage point inside the lithium battery, and obtaining second record information;

[0039] The second determination module is used to determine the first detection result according to the first record information and the second record information.

[0040] According to some embodiments of the present invention, the second airtightness detection module includes at least one of a high-precision helium mass spectrometer leak detector, an infrared thermal imager, a sound intensity meter, an accelerometer and a standing wave tube.

[0041] According to some embodiments of the present invention, the data processing module includes:

[0042] The storage module stores a detection database, which contains p pieces of data, each piece of data has n indicators of the lithium battery, and the indicators include gas flow rate, concentration, pressure, and cavity space in the lithium battery; the n indicators are numerically processed, and the corresponding values ​​of leakage are recorded, which are represented by vector Y;

[0043] Y=(y1,y2,y3…y p )

[0044] Each value in Y is represented by 0 or 1, where 0 indicates no leakage and 1 indicates leakage. i The value indicating whether the i-th data is leaked; i = 1, 2, 3...p;

[0045] Define judgment rules;

[0046]

[0047] Among them, g(x) is the judgment rule, that is, the probability of judging whether there is leakage; x i is the value of the ith indicator, For x i The coefficient of is the square value of the i-th index, β i for The coefficient of , i = 1, 2, 3...n;

[0048] calculate and β i , based on the solution results, the target judgment rules are obtained;

[0049]

[0050]

[0051] Among them, ln L(x) is the intermediate expression, y i is the value of whether the i-th data in vector Y is leaked, X i To detect the value of the i-th data in the database, substitute it into the expression in g(x). is ln L(x) Find the partial derivative, i = 1, 2, 3, ... j;

[0052] Obtain the second test result and input the target judgment rule to obtain a test report.

[0053] According to some embodiments of the present invention, it also includes: a spot inspection module, which is used to automatically detect the status of each module within a set time interval; each module includes a grabbing module, a first air tightness detection module, a second air tightness detection module, a data processing module and a display module.

[0054] The present invention proposes a fully automatic helium inspection machine with spot inspection function, which has the following beneficial effects: 1. Improve detection efficiency: the fully automatic spot inspection operation greatly improves the spot inspection speed and reduces manual intervention. 2. Reduce the misjudgment rate: effectively reduce human errors. 3. Automatic spot inspection function: the automatic spot inspection function ensures the long-term stability and reliability of the equipment and avoids the shortcomings of manual spot inspection. 4. Wide adaptability: it can adapt to lithium battery cover plates of various models and sizes, improving the flexibility of the equipment.

[0055] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0056] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0058] Figure 1 It is a block diagram of a fully automatic helium inspection machine with spot inspection function according to one embodiment of the present invention;

[0059] Figure 2 It is an overall schematic diagram of a fully automatic helium inspection machine with spot inspection function according to an embodiment of the present invention;

[0060] Figure 3 It is an internal schematic diagram of a fully automatic helium inspection machine with spot inspection function according to an embodiment of the present invention;

[0061] Figure 4 1 is a diagram of a helium detection function program interface according to an embodiment of the present invention. DETAILED DESCRIPTION

[0062] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0063] like Figure 1-Figure 4 As shown, the embodiment of the present invention provides a fully automatic helium inspection machine with spot inspection function, including:

[0064] The grabbing module is used to grab and place the lithium battery cover plate and package the lithium battery;

[0065] A first airtightness detection module, used to perform a first airtightness detection on the packaged lithium battery to obtain a first detection result;

[0066] A second airtightness detection module is used to perform a second airtightness detection on the packaged lithium battery to obtain a second detection result when the first detection result is qualified;

[0067] A data processing module, used for performing data processing on the second detection result to obtain a detection report;

[0068] The display module is used to visually display the test report.

[0069] The working principle of the above technical solution: Accurately grasping and placing the lithium battery cover is a key step in the lithium battery packaging process. The advanced robotic arm ensures that the cover can be accurately grasped and placed in the specified position. A preliminary test is performed based on the first airtightness detection module. After the preliminary test is qualified, a more accurate test is performed based on the second airtightness detection module. Compared with the first detection module, the second detection module has higher detection accuracy and stricter detection standards. The data processing module is used to process the second test result and obtain a test report. The test report is used as the final conclusion to determine whether there is a leak and whether the airtightness is good. The display module visualizes the test report.

[0070] The beneficial effects of the above technical solution are: it can ensure that the airtightness of lithium batteries meets the standards, and can also provide operators with comprehensive and accurate test results and reports through precise data processing and visual display. The fully automated inspection operation greatly improves the inspection speed, reduces manual intervention, and effectively reduces human errors.

[0071] According to some embodiments of the present invention, the capture module includes:

[0072] The acquisition module is used to collect point cloud information and scene images of the lithium battery cover;

[0073] A first determination module is used to determine a grabbing method for the lithium battery cover according to the point cloud information and the scene image;

[0074] A construction module, used to construct a grasping path based on a grasping method for a lithium battery cover;

[0075] The execution module is used to execute control instructions for grabbing the lithium battery cover based on the grabbing method and grabbing path.

[0076] The working principle of the above technical solution is: the three-dimensional coordinate data of the lithium battery cover is obtained through three-dimensional scanning or laser ranging technology. These data points are collected to form a point cloud, which can accurately reflect the shape, size and position of the cover. The scene image containing the lithium battery cover is captured by a high-definition camera, providing rich visual information, which is helpful for identifying the cover and its surrounding environment. The point cloud data is analyzed to identify the model of the cover, determine the corresponding grasping template, adjust the grasping template based on the scene image, and determine the grasping method for the lithium battery cover. According to the determined grasping method, the moving trajectory from the initial position to the grasping position is calculated. Considering factors such as the kinematic limitations of the robot arm, obstacle avoidance requirements, and grasping efficiency, the path planning is optimized. Detailed path instructions are output, including parameters such as position, speed, and acceleration. The execution module receives detailed information on the path instructions and grasping methods from the construction module. This information is converted into specific action instructions for the robot arm or grasping tool. The grasping process is monitored in real time to ensure accurate execution of the action and make adjustments when necessary.

[0077] The beneficial effects of the above technical solution: the grasping module realizes the precise grasping of the lithium battery cover through highly integrated acquisition, determination, construction and execution modules, which not only improves the grasping efficiency and accuracy, but also ensures the safety and stability of the grasping process.

[0078] According to some embodiments of the present invention, the first determining module includes:

[0079] The matching module is used to determine the model of the lithium battery cover according to the point cloud information, match it in the database, and determine the grabbing template;

[0080] A preprocessing module, used for preprocessing the scene image to obtain a preprocessed scene image;

[0081] Positioning and identification module for:

[0082] Preprocess the lithium battery cover plate image in the scene image for positioning and identification, summarize the coordinates of all data points in the lithium battery cover plate image, and calculate the average coordinates of all data points in the lithium battery cover plate image as the center of mass of the lithium battery cover plate;

[0083] Setting constraints; the constraints include a maximum distance from the centroid, a minimum distance, and a range of coordinate values;

[0084] Traverse all data points, check whether they meet the set constraints, and take the data points that meet the conditions as the data point set;

[0085] Calculate the normalized value of the dot product between every two data points in the data point set;

[0086] Select the data point pair with the smallest normalized value of the dot product as the grabbing point for the lithium battery cover;

[0087] The first adjustment module is used to adjust the grabbing template according to the grabbing points to determine the grabbing method for the lithium battery cover.

[0088] The working principle of the above technical solution is: extract key features from the point cloud information, such as shape, size, etc. Search for lithium battery cover models that match these features in the preset database. Once a match is found, extract the corresponding grab template, which contains information such as the location of the grab point, the type and configuration of the grab tool. Preprocess the captured scene image to improve image quality and recognition accuracy. Use image recognition algorithms (such as edge detection, template matching, etc.) to locate the lithium battery cover image. Summarize the coordinates of all data points in the lithium battery cover image and calculate the average coordinate as the center of mass. Set constraints, including the maximum distance, minimum distance from the center of mass, and the range of coordinate values ​​to filter out qualified data points. Traverse all data points, check whether the constraints are met, and construct a set of data points. Calculate the normalized value of the dot product between each two data points in the data point set to evaluate the similarity and directionality between the data points. Specifically: The dot product (also called the inner product) is the sum of the products of the corresponding elements of two vectors. Normalization refers to adjusting the length of the vector to 1, that is, the unit vector. Example:

[0089]

[0090] Among them, V ′ is a normalized vector. Where ∥V∥ is the length (or norm) of vector V. For each data point in the data point set, calculate its normalized vector. Calculate the dot product between every two normalized vectors. Select the data point pair with the smallest dot product normalization value as the grasping point, which usually represents two relatively stable feature points on the lithium battery cover. Analyze the positional relationship between the grasping point pair and the preset grasping point in the grasping template. According to the positional relationship, adjust the grasping template by translation, rotation or scaling to ensure that the grasping tool can accurately and stably grasp the lithium battery cover. Output the adjusted grasping method, including detailed information such as the position of the grasping point, the type and configuration of the grasping tool.

[0091] The beneficial effects of the above technical solution are as follows: the first determination module realizes the precise determination of the grasping method of the lithium battery cover through a highly intelligent matching, preprocessing, positioning, identification and adjustment process, which not only improves the grasping accuracy and efficiency, but also ensures the safety and stability of the grasping process.

[0092] According to some embodiments of the present invention, the preprocessing module includes:

[0093] An enhancement module, used to enhance edge features of scene images through color space conversion;

[0094] The denoising module is used to perform denoising on the scene image to obtain a pre-processed scene image.

[0095] The working principle of the above technical solution is: convert the original image from the RGB color space to a color space that is more suitable for edge detection, such as HSV (hue, saturation, brightness) or Lab (brightness, a and b color channels). In the converted color space, the module uses specific algorithms (such as Sobel, Canny and other edge detection operators) to highlight the edge features in the image. These edge features are crucial for subsequent positioning and identification because they can clearly outline the contours of the lithium battery cover. The denoising module is based on median filtering, replacing the value of the pixel with the median of the pixel values ​​in the neighborhood around the pixel.

[0096] The beneficial effects of the above technical solution are as follows: the pre-processing module optimizes the scene image through color space conversion and noise reduction processing, providing higher quality input for the positioning and recognition module. This optimization process not only improves the efficiency of image processing, but also significantly improves the accuracy of determining the grasping method of the lithium battery cover.

[0097] According to some embodiments of the present invention, the second airtightness detection module exchanges information with the host computer through a data transmission module; the data transmission module is one or more of 5GNB-I0T, Ethernet and 485 communication.

[0098] The working principle of the above technical solution: After the second airtightness detection module completes the detection, the detection result data is encapsulated into a specific data packet format. The data packet is sent to the host computer through the selected communication protocol and technology (such as 5G NB-IoT, Ethernet or 485 communication). After receiving the data packet, the host computer parses it to extract the detection result data. The host computer processes and analyzes the received test result data, generates a corresponding report or takes other necessary operations. According to the analysis results, the host computer can send control instructions to the second airtightness detection module, such as adjusting the detection parameters, starting or stopping the detection, etc.

[0099] Beneficial effects of the above technical solution: The data transmission module provides a variety of efficient and reliable communication methods for information exchange between the second airtightness detection module and the host computer, which can ensure efficient, accurate and reliable data transmission on the lithium battery production line.

[0100] According to some embodiments of the present invention, the present invention further includes: a second adjustment module, configured to:

[0101] In the process of executing the control instruction by the execution module, the grasping node where the execution module is currently located is determined, and the reliability factor k of the execution module at the grasping node where the execution module is currently located is calculated. ε :

[0102]

[0103] Where T is the grasping safety of the grasping path before the execution module moves to the current grasping node; L i is the safe distance between the grabbing node i and the obstacle before the execution module moves to the current grabbing node; d i is the width of the safe grasping path at grasping node i before the execution module moves to the current grasping node;

[0104] According to the reliability factor k of the execution module at the current capture node ε , adjust the crawling path of the execution module, and send the adjusted crawling path to the execution module;

[0105]

[0106] Among them, F(x') is the adjusted grasping path; x ε is the grasping node where the execution module is currently located; x' is the grasping node that the execution module has not reached; w(x) is the cost function from the initial grasping node to the target grasping node; g(x ε ) is the cost function from the current grasping node to the target grasping node; x m is the horizontal coordinate of the current grab node; x n is the horizontal coordinate of the grasping node that has not been reached; y m is the ordinate of the current grab node; n is the ordinate of the unreached grab node.

[0107] The working principle of the above technical solution is as follows: During the process of the execution module executing the control instruction, the second adjustment module first determines the current grasping node of the execution module. The reliability factor of the execution module at the current grasping node is calculated. The reliability factor is a comprehensive evaluation index that takes into account the safe distance between the execution module and the obstacle, the width of the safe grasping path, and the grasping safety of the previous grasping path. According to the calculated reliability factor, the second adjustment module adjusts the grasping path of the execution module. The adjusted grasping path is sent to the execution module, and the execution module continues to perform the grasping task according to the new path.

[0108] The beneficial effects of the above technical solution are as follows: By evaluating and adjusting the grasping path in real time, the second adjustment module can ensure that the execution module always stays on a safe and stable path during the grasping process. The safe distance between the execution module and obstacles and the width of the safe grasping path are taken into consideration, effectively avoiding potential collision risks. By adjusting the grasping path, the module can reduce unnecessary movement and waiting time, thereby improving grasping efficiency.

[0109] According to some embodiments of the present invention, the first airtightness detection module includes:

[0110] The initial pressure charging detection module is used to perform initial pressure charging on the packaged lithium battery, fill the internal space of the battery with an inert gas at a preset pressure, and record the initial pressure value to preliminarily check whether there is leakage inside the lithium battery, and obtain first record information;

[0111] The negative pressure detection and tracer gas injection module is used to inject tracer gas outside the lithium battery while maintaining the positive pressure inside the lithium battery, placing the lithium battery in a negative pressure detection environment, observing and recording whether the tracer gas enters the detection environment through the leakage point inside the lithium battery, and obtaining second record information;

[0112] The second determination module is used to determine the first detection result according to the first record information and the second record information.

[0113] The working principle of the above technical solution is as follows: the packaged lithium battery is subjected to preliminary pressure charging treatment, and an inert gas (such as argon or nitrogen) is used to fill the internal space of the battery at a preset pressure. The lithium battery is placed in a detection device and the detection environment is sealed. The inert gas is injected into the battery through the pressure charging device until the preset pressure value is reached. The initial pressure value is recorded, and whether the pressure decreases over time is observed to preliminarily check whether there is a leak inside the lithium battery. The first recorded information is output, including the initial pressure value, the pressure change curve, etc. Negative pressure detection and tracer gas injection module: After the preliminary pressure charging test, the positive pressure state inside the battery is maintained. Tracer gas (such as Freon and other easily detectable gases) is injected into the outside of the battery through the injection device. The battery is placed in a negative pressure detection environment, which is created by a vacuum pump and other equipment. A high-sensitivity gas detector is used to observe and record whether the tracer gas enters the detection environment through a potential leakage point inside the battery. The second recorded information is output, including the detection result of the tracer gas, the location of the leakage point (if detected), etc. The pressure change curve in the first recorded information is analyzed to determine whether there is a significant pressure drop inside the battery. Analyze the tracer gas detection result in the second record information to determine whether tracer gas from the outside of the battery has entered the detection environment. Combine the two aspects of information to determine whether the lithium battery has passed the airtightness test.

[0114] The beneficial effects of the above technical solution are as follows: through the steps of preliminary charging pressure detection, negative pressure detection and tracer gas injection and comprehensive determination, it is possible to ensure that the packaged lithium battery has good air tightness, thereby improving the safety of the battery and the product quality.

[0115] According to some embodiments of the present invention, the second airtightness detection module includes at least one of a high-precision helium mass spectrometer leak detector, an infrared thermal imager, a sound intensity meter, an accelerometer and a standing wave tube.

[0116] The working principle of the above technical solution: The high-precision helium mass spectrometer leak detector uses helium as a leak-indicating gas, and determines whether the inspected part has a leak by measuring the deflection orbit radius of ions of different masses in a magnetic field. The infrared thermal imager generates a thermal image by capturing infrared radiation on the surface of an object, thereby displaying the temperature distribution in different areas, and can quickly locate the area with serious leakage. The sound intensity meter measures the sound intensity at a certain point in the sound field, that is, the energy flow per unit area per unit time, which helps to detect the weak sound produced by gas leakage. The accelerometer measures the acceleration of an object in a specific direction. The standing wave tube is used to measure the vertical incidence sound absorption coefficient of the sound-absorbing material, and can also be used to detect gas leaks in some cases (such as by measuring the sound wave changes caused by the leak). When using the high-precision helium mass spectrometer leak detector, the cavity inside it is evacuated in cooperation with the cavity vacuum device, and the battery in the cavity can be evacuated in cooperation with the lithium battery vacuum device, and the pressure in the cavity and the pressure in the lithium battery can be measured separately; the lithium battery in the cavity of the high-precision helium mass spectrometer leak detector is injected with helium, and the cavity is inspected by helium.

[0117] Beneficial effects of the above technical solution: The second airtightness detection module includes one or more of the above-mentioned devices, depending on factors such as the type of object to be tested, detection requirements and cost. For example, for high-precision and high-requirement airtightness detection of lithium batteries, a high-precision helium mass spectrometer leak detector will be used as the main detection equipment, combined with an infrared thermal imager for auxiliary detection. For some airtightness detection scenarios with lower requirements, only simpler detection equipment such as infrared thermal imagers or sound intensity meters may be used. The second airtightness detection module is a system that integrates a variety of high-precision detection equipment to ensure accurate and comprehensive detection of the airtightness of lithium batteries or other objects to be tested.

[0118] According to some embodiments of the present invention, the data processing module includes:

[0119] The storage module stores a detection database, which contains p pieces of data, each piece of data has n indicators of the lithium battery, and the indicators include gas flow rate, concentration, pressure, and cavity space in the lithium battery; the n indicators are numerically processed, and the corresponding values ​​of leakage are recorded, which are represented by vector Y;

[0120] Y=(y1,y2,y3…y p )

[0121] Each value in Y is represented by 0 or 1, where 0 indicates no leakage and 1 indicates leakage. i The value indicating whether the i-th data is leaked; i = 1, 2, 3...p;

[0122] Define judgment rules;

[0123]

[0124] Among them, g(x) is the judgment rule, that is, the probability of judging whether there is leakage; x i is the value of the ith indicator, For x i The coefficient of is the square value of the i-th index, β i for The coefficient of , i = 1, 2, 3...n;

[0125] calculate and β i , based on the solution results, the target judgment rules are obtained;

[0126]

[0127] Among them, ln L(x) is the intermediate expression, y i is the value of whether the i-th data in vector Y is leaked, X i To detect the value of the i-th data in the database, substitute it into the expression in g(x). is ln L(x) Find the partial derivative, i = 1, 2, 3, ... j;

[0128] Obtain the second test result and input the target judgment rule to obtain a test report.

[0129] The working principle of the above technical solution: The storage module includes a storage detection database, which contains p data, each of which covers n key indicators of lithium batteries. These indicators include gas flow rate, concentration, pressure and cavity space inside the lithium battery. They are all digitized and accompanied by corresponding leakage states (0 for no leakage and 1 for leakage). All leakage state values ​​constitute a vector Y. Construct a complex mathematical model g(x) to predict the leakage probability of the lithium battery based on its indicator data. g(x) combines linear combinations and nonlinear transformations, and the output value is between 0 and 1, representing the probability of lithium battery leakage. Coefficient solution: Calculate and β i The specific value of is convenient for constructing accurate target judgment rules. The maximum likelihood estimation method is used to solve the problem of maximizing the intermediate expression ln L(x). and β i . For ln L(x), respectively and β i Find the partial derivative and set it to 0 to solve and β iThe optimal value of . The new lithium battery test data is input into the constructed judgment rule g(x) to obtain the leakage probability, and a test report is generated accordingly. When it is determined that the leakage probability is greater than the preset probability threshold, it indicates that leakage has occurred; otherwise, it indicates that no leakage has occurred.

[0130] The beneficial effects of the above technical solution: By integrating multiple indicators and building a complex mathematical model, the data processing module can more accurately determine the leakage status of lithium batteries. The generated test report provides an important basis for the production, quality inspection and subsequent processing of lithium batteries, which helps to optimize the production process and improve product quality.

[0131] According to some embodiments of the present invention, it also includes: a spot inspection module, which is used to automatically detect the status of each module within a set time interval; each module includes a grabbing module, a first air tightness detection module, a second air tightness detection module, a data processing module and a display module.

[0132] Working principle and beneficial effects of the above technical solution: The inspection module can automatically check the operating status of each functional module periodically to ensure its normal operation. Through regular inspection, the inspection module can timely discover and solve potential problems, thereby avoiding production interruption or quality degradation. The inspection module integrates sensors, timers and logic judgment units to monitor the status of each module and make corresponding processing. Grasping module: detects whether its grasping action is accurate and stable, and whether there is a mechanical failure. The first airtightness detection module: checks whether its charging, detection and recording functions are normal to ensure that the airtightness of the lithium battery can be accurately judged. The second airtightness detection module: verifies the accuracy of its high-precision detection equipment, including the performance of helium mass spectrometer leak detector, infrared thermal imager, etc. Data processing module: checks its data processing and storage functions to ensure that the data is complete, accurate and safe. Display module: verifies whether its display function is normal and whether it can accurately reflect the test results and system status. According to the importance, failure rate and production requirements of each module, set a reasonable detection time interval. A combination of online monitoring and offline detection is adopted to ensure that the detection task is completed without affecting normal production. When an abnormal state is detected, the inspection module should immediately trigger an alarm and notify relevant personnel to handle it. The inspection module plays a vital role in the automated production line. It can ensure the stable operation of each functional module, thereby improving production efficiency and product quality. Through regular inspection and maintenance, the inspection module can also extend the life of the equipment and reduce operating costs.

[0133] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A fully automatic helium inspection machine with spot inspection function, characterized in that: include: The grabbing module is used to grab and place the lithium battery cover plate and package the lithium battery; A first airtightness detection module, used to perform a first airtightness detection on the packaged lithium battery to obtain a first detection result; A second airtightness detection module is used to perform a second airtightness detection on the packaged lithium battery to obtain a second detection result when the first detection result is qualified; A data processing module, used for performing data processing on the second detection result to obtain a detection report; The display module is used to visually display the test report.

2. The fully automatic helium inspection machine with spot inspection function as claimed in claim 1, characterized in that: The capture module comprises: The acquisition module is used to collect point cloud information and scene images of the lithium battery cover; A first determination module is used to determine a grabbing method for the lithium battery cover according to the point cloud information and the scene image; A construction module, used to construct a grasping path based on a grasping method for a lithium battery cover; The execution module is used to execute control instructions for grabbing the lithium battery cover based on the grabbing method and grabbing path.

3. The fully automatic helium inspection machine with spot inspection function as claimed in claim 2, characterized in that: The first determination module includes: The matching module is used to determine the model of the lithium battery cover according to the point cloud information, match it in the database, and determine the grabbing template; A preprocessing module, used for preprocessing the scene image to obtain a preprocessed scene image; Positioning and identification module for: Preprocess the lithium battery cover plate image in the scene image for positioning and identification, summarize the coordinates of all data points in the lithium battery cover plate image, and calculate the average coordinates of all data points in the lithium battery cover plate image as the center of mass of the lithium battery cover plate; Setting constraints; the constraints include a maximum distance from the centroid, a minimum distance, and a range of coordinate values; Traverse all data points, check whether they meet the set constraints, and take the data points that meet the conditions as the data point set; Calculate the normalized value of the dot product between every two data points in the data point set; Select the data point pair with the smallest normalized value of the dot product as the grabbing point for the lithium battery cover; The first adjustment module is used to adjust the grabbing template according to the grabbing points to determine the grabbing method for the lithium battery cover.

4. The fully automatic helium inspection machine with spot inspection function as claimed in claim 3, characterized in that: The preprocessing module comprises: An enhancement module, used to enhance edge features of scene images through color space conversion; The denoising module is used to perform denoising processing on the scene image to obtain a preprocessed scene image.

5. The fully automatic helium inspection machine with spot inspection function as claimed in claim 1, characterized in that: The second air tightness detection module exchanges information with the host computer through the data transmission module; the data transmission module is one or more of 5GNB-I0T, Ethernet and 485 communication.

6. The fully automatic helium inspection machine with spot inspection function as claimed in claim 2, characterized in that: Also includes: The second adjustment module is used for: In the process of executing the control instruction by the execution module, the grasping node where the execution module is currently located is determined, and the reliability factor k of the execution module at the grasping node where the execution module is currently located is calculated. ε : Where T is the grasping safety of the grasping path before the execution module moves to the current grasping node; L i is the safe distance between the grabbing node i and the obstacle before the execution module moves to the current grabbing node; d i is the width of the safe grasping path at grasping node i before the execution module moves to the current grasping node; According to the reliability factor k of the execution module at the current capture node ε , adjust the crawling path of the execution module, and send the adjusted crawling path to the execution module; Among them, F(x') is the adjusted grasping path; x ε is the grasping node where the execution module is currently located; x' is the grasping node that the execution module has not reached; w(x) is the cost function from the initial grasping node to the target grasping node; g(x ε ) is the cost function from the current grasping node to the target grasping node; x m is the horizontal coordinate of the current grab node; x n is the horizontal coordinate of the grasping node that has not been reached; y m is the ordinate of the current grab node; n is the ordinate of the unreached grab node.

7. The fully automatic helium inspection machine with spot inspection function as claimed in claim 1, characterized in that: The first air tightness detection module comprises: The initial pressure charging detection module is used to perform initial pressure charging on the packaged lithium battery, fill the internal space of the battery with an inert gas at a preset pressure, and record the initial pressure value to preliminarily check whether there is leakage inside the lithium battery, and obtain first record information; The negative pressure detection and tracer gas injection module is used to inject tracer gas outside the lithium battery while maintaining the positive pressure inside the lithium battery, placing the lithium battery in a negative pressure detection environment, observing and recording whether the tracer gas enters the detection environment through the leakage point inside the lithium battery, and obtaining second record information; The second determination module is used to determine the first detection result according to the first record information and the second record information.

8. The fully automatic helium inspection machine with spot inspection function as claimed in claim 1, characterized in that: The second air tightness detection module includes at least one of a high-precision helium mass spectrometer leak detector, an infrared thermal imager, a sound intensity meter, an accelerometer and a standing wave tube.

9. The fully automatic helium inspection machine with spot inspection function as claimed in claim 8, characterized in that: The data processing module comprises: The storage module stores a detection database, which contains p pieces of data, each piece of data has n indicators of the lithium battery, and the indicators include gas flow rate, concentration, pressure, and cavity space in the lithium battery; the n indicators are numerically processed, and the corresponding values ​​of leakage are recorded, which are represented by vector Y; <h2 style=";text-align:left;direction:ltr">Y = (y1,y2,y3…y)<h2 style=";text-align:left;direction:ltr"> p <h2 style=";text-align:left;direction:ltr"> ) Each value in Y is represented by 0 or 1, where 0 indicates no leakage and 1 indicates leakage. i The value indicating whether the i-th data is leaked; i = 1, 2, 3...p; Define judgment rules; Among them, g(x) is the judgment rule, that is, the probability of judging whether there is leakage; x i is the value of the ith indicator, For x i The coefficient of is the square value of the i-th index, β i for The coefficient of , i = 1, 2, 3...n; calculate and β i , based on the solution results, the target judgment rules are obtained; Among them, ln L(x) is the intermediate expression, y i is the value of whether the i-th data in vector Y is leaked, X i To detect the value of the i-th data in the database, substitute it into the expression in g(x). is ln L(x) Find the partial derivative, i = 1, 2, 3, ... j; Obtain the second test result and input the target judgment rule to obtain a test report.

10. The fully automatic helium inspection machine with spot inspection function as claimed in claim 1, characterized in that: Also includes: The inspection module is used to automatically detect the status of each module within a set time interval; each module includes a grabbing module, a first air tightness detection module, a second air tightness detection module, a data processing module and a display module.

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